Note: Descriptions are shown in the official language in which they were submitted.
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SPECZFICRTION
Mine sweeping robot
TECHNICAL FIELD
The present invention relates to a mine sweeping robot
for removing mines buried under the ground safety without
human assistance.
BACKGROUND ART
Regional disputes are increasing after the end of the
so-called cold war between the West and the East, as known
well, human casualties by mines used in the disputes are
causing international problems even aftex the disputes. To
solve this problem, it has been attempted to remove the
mines buried under the ground by an international scale,
but the conventional methods had problems in efficiency,
safety and economy.
In a typical method, a worker searches for a mine by
using a metal detector or the like, and removes its tuse or
destroys the mine itself, but its working efficiency is
poor and it is very dangerous. As a safe method, a rocket
connecting a wire is launched toward the mine field, and
the wire is brought into contact with the ground to explode,
but a tremendous number of rockets must be used in order to
destroy all mines, and the economy is very poor.
In such situation, the present applicant developed an
unmanned self-propelled mine sweeping xobot that is safe,
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very efficient, and economical, and already acquired its
patent right (Japanese Patent No. 2516539). This mine
sweeping robot is a uniaxial self-propelled robot mainly
composed of an outer frame having a pair of cylindrical
side frame bodies rotatably coupled cvaxially, and a main
body provided inside the outer frame fo~ propelling the
outer frame by rotating and driving the both frame bodies
independently by remote control. By rotating and driving
the pair of cylindrical fzame bodies from a safe place by
remote control, the robot moves the mine field freely in
all directions while keeping a wide ground contact area, so
that the mines can be destroyed efficiently safely and
securely.
However, this unmanned self-propelled mine sweeping
robot has its own problems, and the following problems are
known in relation to the geography of the mine field.
As reported in news, the mine field is often a rough
and undulated land. 'The mine sweeping robot previously
developed by the applicant is a so-called uniaxial type.
and since there is no interaxial space as in the biaxial
type, it can run along the ground surface even in a rough
and undulated land, but it cannot climb a steep slope
because the both cylindrical frame bodies roll downward and
the main body idles within the outer frame. Therefore, its
place of use is limited.
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zn spite of the uniaxial type, in the case of mine
field having multiple small. bumps and dents, the outer
frame may pass over the dents, and mines may be left
undetected, and it is not perfect in effect, and its place
of use is also limited in this respect.
The invention is devised in the light of the above
background, and it is hence an object thereof to present a
mine sweeping robot capable of destroying the mines safely
and securely regardless of the geography of the mine field.
SUMMARY OF THE XNVENTION
To achieve the object, a first mine sweeping robot of
the invention comprises an outer frame composed by coupling
coaxially a pair of cylindrical frame bodies at both sides
rotatably, a main body provided in the outer frame for
propelling the outer frame by rotating and driving the both
frame bodies independently by remote control, and a guide
bar located sideward of the outer fx'ame at least on one
side of the main body, and extending at least forward or
backward of the running direction of the outer frame so
that the lead~.ng end may proj ect to the outer side of the
outer circumference of the frame body.
A second mine sweeping robot of the invention comprises
an outer frame composed by coupling coaxially a pair of
cylindrical frame bodies at both sides rotatably, a main
body provided zn the outer frame for advancing the outer
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frame by rotating and driving the both frame bodies
independently by remote control, and plural probes made of
elastic material, extending radially to the outer side from
each outer circumference of the both frame bodies.
A third mine sweeping robot of the invention comprises
an outer frame composed by coupling coaxially a pair of
cylindrical frame bodies at both sides rotatably, a main
body provided in the outer frame for propelling the outer
frame by rotating and driving the both frame bodies
independently by remote control, a guide bar located
sideward of the outer frame at least on one side of the
main body, and extending at least forward or backward of
the runn~.ng direction of the outer frame so that the
leading end may project to the outer side of the outer
circumference of the frame body, and plural probes made of
elastic material, extending radially to the outer side from
each outer circumference of the both frame bodies.
Xn the first mine sweeping robot of the invention, the
guide bar is provided at least on one side of the main body.
each guide bar extends at least forward or backward of the
running direction sideward of the outer frame so that the
leading end may project to the outer side of the outer
circumference of the frame body. When the outer frame
climbs a steep slope by extending the guide bar backward,
the main body idles within the outer frame, but the leading
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end of the guide bar touches down on the inclined land
surface, and hence this idling is prevented. Moreover, the
guide bar acts as a support to prevent backward move of the
outer frame, arid the ground contact force of the frame
bodies is increased by the reaction received from the land
surface through the guide gar. and the clirnbability is
increased. Therefore, it is free to travel on a steep
rough land.
In the second mine sweeping robot of the invention,
since plural probes made of elastic material are attached
radially to the outer circumference of the frame bodies,
while the mine sweeping robot is running, the outer frames
moves while the plural probes are hitting the land surface
by the rotation of the frame bodies. Accordingly, when the
outer frame passes over a dent, an effective impact can be
given to the land suzface in the dent. Therefore, no mine
is left over even in the mine f field having multiple small
dents and bumps.
In the third mine sweeping robot of the invention,
since the fizst mine sweeping robot of the invention and
the second mine sweeping robot of the invention are
combined, the climbability is excellent and no mine is left
undetected.
Incidentally. in the case of the second mine sweeping
robot of the invention, the climbabilZty may be lowered
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because of the elastic probes interposing between the frame
bodies and the land surface, but in the case of the third
mine sweeping robot of the invention, lowering of
climbability by probes can be effectively compensated by
the guide bar.
Preferably, the guide bar should be provided at both
sides of the main body from the viewpoint of running
stability of the outer frame,, but it is not a serious
problem if provided at one side of the main body only in
the case of rotating one frame body. In order to function
also in the backward move, the guide bar is preferred to be
designed to extend both forward and backward in the running
direction of the outer frame. More specifically, a bar
longer than the outside diameter of the frame body is
provided so that its center may be positioned nearly in the
axial center of the frame body. If the guide bar is too
low, it may be an obstacle in ordinary running.
The guide bars and probes are preferred to be
detachable from the main body and frame bodies. As a
result, they can be used selectively, and flexible setting
depending on the local geography is possible.
Preferably, the probes are disposed at intervals in the
outer circumferentiai direction of the frame body, and the
plural probes are detachably planted in plural base members
fitted and fixed on the outer circumference, at intervals
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in the longitudinal direction of the members.
BRIEF DESCRIPTION OF THE DRAWINGS
Fig- I is a partially cutaway perspective view of mine
sweeping robot in an embodiment of the invention, Fig. 2 is
a cross sectional plan view of the outer fxame, Fig. 3 is
a schematic structural plan view of the main bodyr Fig. 4
is a perspective view of the joint, Fig. 5 is a side view
of the same mine sweeping robot, Fig. 6 is a side view for
explaining the climbing state of the mine sweeping robot,
Fig. 7 is a front view for explaining the state of the mine
sweeping robot when passing over a dent, and Fig. 8 is a
side view for explaining other mounting structure of probes.
BEST MODE OF CARRYING OUT THE INVENTION
An embodiment of the invention is described beJ.ow while
referring to the drawings. Fig. 1 is a partially cut-away
perspective view of mine sweeping robot in an embodiment of
the invention, Fig. 2 is a cress sectional plan view of
the outer frame, Fig. 3 is a schematic Structural plan view
of the main body, Fig. 4 is a perspective view of the joint,
Fig. 5 is a side view of the same mine sweeping robot, Fig-
6 is a side view for explaining the climbing state of the
mine sweeping robot, and Fig. 7 is a front view fox
explaining the state of the mine sweeping robot when
passing over a dent.
The mine sweeping robot of this embodiment of the
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invention is an example of the third mine sweeping robot of
the invention, combining the first mine sweeping robot of
the invention and the second mine sweeping robot of the
invention.
This mine sweeping robot comprises, as shown in Fig. 1..
a cylindrical outer frame 10, a main body 20 provided
inside the outer frame 1 for propelling the outer frame 10,
plural probes 30, 30, ... provided radially on the outer
circumference of the outer frame 10, and a pair of guide
bars 40, 40 on both sides provided on both sides of the
main body 20.
The outer frame 10 is, as shown in Fig. 2, composed of
a pair of cylindrical frame bodies 11, 1J. on both s~.des,
being coupled coaxially by means of a joint 15, s4 as to
rotate in both directions independently from each other.
The frame bodies 1.1, 11 are made of resin such as FRP,
and multiple ribs 12, 12, ... extending in the axial
direction are formed an each outer circumference at equal
intervals in the circumferential direction. Further, on
each inner circumference of the frame bodies 11, 11, three
guide grooves 13, 13, 14 continuous in the circumferential
direction axe formed at specified intervals in the axial
direction. The joint 15 includes, as shown in Fig- 4. a
flange-shaped main body 16 having sleeves at both sides,
and bearings 17,17 at bath sides externally fitted into the
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both sleeves, and by fitting the bearings 17, 17 internally
into the ends of the frame bodies 11, 11, the frame bodies
11, 11 are rotatably coupled coaxially to compose one outer
frame 10.
Plural probes 30, 30, ... provided at the outer side of
the outer frame 10 are provided on each outer circumference
of the outer frames 11, 11, at equal intervals in the axial
direction and circumferential direction. Each probe 30 is
made of an elastic material, herein, and formed like a
whisk by bundling a plurality of fine bars made of strongly
restoring material such as bamboo and spring, and each set
of a specified number .of pieces is planted at equal
intervals in the base material 31 extending in the axial
direction of each frame body 11. Plural base materials 31.
31, ... are fitted between adjacent ribs 12, 12 by each
specified number of pieces of the frame bodies 11, 11 and
fixed by using bolts, so that the plural probes 30, 30, ...
are detachably provided in the outer circumference of each
outer frame 11, at specified intervals in the axial
direction and circumferential direction.
on the other hand, the main body 10 provided at the
inner side of the outer frame 10 comprises, as shown in Fig.
3 and Fig. 5, a case 21 straddling over the frame bodies 11,
11, and a pair of drive units 22, 22 at bath sides
assembled in both sides of the case 21, among others. Each
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drive unit 22 includes a motor 23 assembled in the case 21,
four drive wheels 24, 24, ... driven synchronously by the
motor 23, a holding wheel 25 projecting upward from the
ceiling side of the case 21, a receiver 26 of remote
control of the motor 23, and a battery 27 for driving the
motor 23.
The four drive wheels 24, 24, ... aze rubber wheels,
and project downward from tour bottom positions of the case
21. Two left drive wheels 24, 24 are fitted into the left
guide groove 13 of the three guide grooves 13, 13, 14
provided in the inner circumference of the frame body 11.
Two rzght drive wheels 24, 24 are fitted into the right
guide groove 13 of the thfee guide grooves 13, 13, 14. The
holding wheel 25 is a rubber wheel same as the drive wheels
24, 24, ..., and is fitted into the middle guide groove 14,
and presses the drive wheels 24, 24, ... to the bottom of
the guide grooves 13, 13.
Of the four drive wheels 24, 24, ..., the two front
drive wheels 24, 24 are coupled by an axle 24', and the two
rear drive wheels 24, 24 are also coupled by an axle 24'.
As the rotation of the motor 23 is transmitted to the front
and rear axles 24', 24' through a reduction gear 2B and a
chain 29, the four drive wheels 24, 25 rotate synchronously
in the same direction to rotate the frame body 11.
A pair of guide bars 40, 40 attached to both sides of
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the main body 20 are positioned szdeward of the outer game
10, and both are horizontal bars at right angle to the
central axis of the frame body 11. Fach guide bar has a
length sufficiently larger than the outside diameter of the
frame body 11, arid its middle is detachably fastened with
screw through a support member 41 to the side of the case
21 of the main body 20, so that the middle may be
positioned nearly i.n the axial center of the frame body 11.
As a result, both ends of each guide bar 40 projects by the
same length forward and backward in the running direction
of the outer frame 20 from the outside position of the
frame body 11.
The method of use of the mine sweeping robot according
to the embodiment of the invention is described below.
First, the mine sweeping robot is placed at a safe
place before the mine field, and the operator xemote-
controls from a safe place, and the mine sweeping robot
advances into the mine field.
Herein, when both drive units 22, 22 provided in the
main body 20 are operated simultaneously in the forward
direction, the bath frame bodies 11, lI for composing the
outer frame 7.0 zotate synchronously in the forward
direction. Therefore, the mine sweeping robot (outer frame
10) moves forward. When the both drive units 22, 22 are
operated simultaneously in the reverse direction, the both
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frame bodies 11, 11 rotate synchronously in the reverse
direction, so that the mine sweeping robot (outer frame 10)
moves backward.
When one drive unit 22 is operated in the forward
direction and other drive unit 22 is stopped, the mine
sweeping robot (outer frame 10) makes a large turn to the
stop side. When one drive unit 22 is operated in the
forward direction and other drive unit 22 is operated in
the reverse direction, the mine sweeping robot (outer frame
10) makes a small turn to the reverse rotation side.
By combining these operations, the mine sweeping robot
can move the mine field freely in all directions, and steps
on and destroys the mines.
When the geography of the mine field is relatively
horizontal and relatively flat, the both guide gars 90, 40
are almost horizontal, and the both ends are sufficiently
lifted from the ground. xherefore, the guide bars 40, 40
are not obstacles for running of the mine sweeping robot-
When the mine sweeping robot climbs up a steep slope,
as shown in Fig. 6, the main body 20 inclines backward.
idling within the outer frame 10. Hence, the rear ends of
the guide gars 40, 50 contact with the ground. As a result,
idling of the main body 20 is prevented. Moreover,
backward move of the mine sweeping robot (outer frame 10)
on an upward slope is prevented, and the ground contact
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force of the frame bodies 11, 11 is increased by the
reaction received from the ground through the guide bars 40,
40, so that the climbability is increased. Therefore, even
in a rough land of steep slopes, free running of uniaxial
structure is assured.
The ,length of the guide bars 40, 40 is required to be
larger than the outside diameter of the frame bodies 11, 11,
owing to the necessity of projecting the leading end to the
outer side from the outer circumference position of the
frame body 11, and from the standpoint of enhancing the
ground contact force, it is preferred to be more than two
times the outside diameter of the frame bodies 11, 11. ~f
too long, however, the ends of the guide bars 40, 40 may
touch the ground in normal running, and the running may be
impeded, and therefore the upper limit should be preferably
within five times of the outside diameter of the frame
bodies li, 11.
When the mzne sweeping robot travels in an area having
small bumps and dents, as shown in Fig. 7, the outer frame
may step over a dent. However, since plural probes 30,
30, ... made of elastic material are radially attached to
plural positions on the outer circumference of the frame
bodies 11, 11, the probes 30, 30, ... rotate along with
rotation of the frame bodies 11, 1.1. Accord~.nc~ly, the mine
sweeping robot (outer frame 10) travels whale hitting the
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ground by the plural probes 30, 30, ...- As a result, when
the outer frame 10 passes over a dent, an effective impact
can be given to the ground within the dent. Therefore,
even in the case of a mine field having multiple small
dents and bumps, no mine is left undetected.
In addition, the mine destroying range is expanded, and
the certainty of destruction is enhanced. This mine
sweeping robot is a so-called disposable type, basically,
being broken by explosion, but in actual use, since the
probes 30, 30, ... run ahead of the outer frame 10 and
destroy the mines, the risk of destruction by explosion is
lowered. Therefore, it may be used repeatedly depending on
the circumstance. Or it may be reused by a slight repair.
Hence the economy is improved.
The length of the probe 30 is preferred to be 1/10 to
1/3 times of the outside diameter of the frame body 11. zf
the probe 30 is too short, it is hard to destroy securely,
or if too long, the running performance is impaired.
Mounting positions of the probes 30 may be several to
about ten positions in the cixcumferential direction of the
frame body 11. The probes 30 may be also continuous in the
axial direction, so far as no large clearance is left over
in the axial direction of the frame body 11. In the case
of the probes 30 not continuous in the axial direction of
the frame body 11, in order to avoid failure in destroying
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between the adjacent probes 30, 30, it is preferred to be
expanded in the width direction of the frame body 11 as in
this embodiment.
Depending on the geography of the mine field, if the
guide bars 40, 40 or probes 30, 30, ... are not
particularly necessary, either or both of them may be
removed as required. In other words, they can be used
sel~ectiveJ.y depending an the geography of the mine field.
Incidentally, in this mine sweeping robot, the
climbability may be lowered because of the elastic probes
30, 30, ... interposing between the frame bodies 11. 11 and
the ground, but such lowering can be effectively suppressed
by the guide bars 30, 30.
Fig. 8 is a side view for explaining other mounting
structure of probes.
In the foregoing embodiment, the base member 31 on
which the probes 30, 30, ... are planted is fitted and
fixed by using bolts between the ribs 12, 12 formed on the
outer circumference of the frame body 11, but as shown in
Fig. 8 (a), a base member 31 of locking type may be
inserted from the side into a groove 1.8 of locking type
formed in the outer circumference of the frame body 11, or,
as shown in Fig. 8 (b), a base member 31 of locking type
may be inserted from the side into a rib 18 of locking type
formed on the outer circumference of the frame body 11. In
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either structure, the frame body 11 is made of resin and
easy to process, and hence it is easy to carry out.
Including the structure in the foregoing embodiment, since
the probes 30, 30, ... can be attached and detached easily,
it is suited to field setting or repair.
In the foregoing embodiment, the probe 30 is described
as a member like whisk formed by bundling a plurality of
fine bars made of a strongly restoring material, but not
limited to this, for example, a strongly restoring band
material or the like may be used. As the material, bamboo,
or other inexpensive materials available in the field are
preferred.
As for the side bar 40, in order to increase the ground
contact area, it is effective to fold the end in an L-shape.
As described herein, in the first mine sweeping robot
of the invention, since idling of the main body is
prevented and the climbability is increased by the guide
bars provided at the sides of the main body, free running
is possible even in rough and steeple land. Therefore, the
mines can be destroyed safely and securely regardless of
the geography of the mine field.
In the second mine sweeping robot of the invention,
having plural probes made of elastic material attached
radially to the outer circumference of the frame body, the
mine buried in a dent is securely destroyed when passing
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ovex the dent, and no mine is left over. Therefore, the
mines can be destroyed safely and securely regardless of
the geography of the mine field. Moreover, the mine
destroying range is wide, it is excellent in certainty,
small in damage by explosion, and high in economy.
The third mine sweeping robot of the invention is a
combination of the first mine sweeping robot of the
invention and the second mine sweeping robot of the
invention, and therefore the climbability is excellent, and
no mine is missed. Therefore, the mines can be destroyed
safely and securely regardless of the geography of the mine
field. Moreover, it is excellent in running performance,
certainty, and economy.
Since the guide bars and probes are detachable, they
can be used selectively in the field depending on the
geography of the mine field.
INDUSTRIAL A~PLICABZLITY
Thus, the mine sweeping robot of the invention is
useful for removing mines buried in the ground by unmanned
operation, and in particular it is suited to safe and
secure destruction of mines regardless of the geography of
the mine field.
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